This paper studies a novel distributed optimization problem that aims to minimize the sum of the non-convex objective functionals of the multi-agent network under privacy protection, which means that the local objecti...
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This paper studies a novel distributed optimization problem that aims to minimize the sum of the non-convex objective functionals of the multi-agent network under privacy protection, which means that the local objective of each agent is unknown to others. The above problem involves complexity simultaneously in the time and space aspects. Yet existing works about distributed optimization mainly consider privacy protection in the space aspect where the decision variable is a vector with finite dimensions. In contrast, when the time aspect is considered in this paper, the decision variable is a continuous function concerning time. Hence, the minimization of the overall functional belongs to the calculus of variations. Traditional works usually aim to seek the optimal decision function. Due to privacy protection and non-convexity, the Euler-Lagrange equation of the proposed problem is a complicated partial differential ***, we seek the optimal decision derivative function rather than the decision function. This manner can be regarded as seeking the control input for an optimal control problem, for which we propose a centralized reinforcement learning(RL) framework. In the space aspect, we further present a distributed reinforcement learning framework to deal with the impact of privacy protection. Finally, rigorous theoretical analysis and simulation validate the effectiveness of our framework.
DSP/FPGA-based parallel architecture oriented to real-time imageprocessing applications is presented. The architecture is structured with high performance DSPs interconnected by FPGA. Within FPGA a FIFO interconnecti...
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Quadrotors play a significant role in our lives and are transforming our *** cable-suspended loads is an unavoidable quadrotor application trend and a hot research topic in the control ***,the load swing and unpredict...
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Quadrotors play a significant role in our lives and are transforming our *** cable-suspended loads is an unavoidable quadrotor application trend and a hot research topic in the control ***,the load swing and unpredictability pose significant challenges to the quadrotor's *** this paper,an anti-swing controller with an inner-outer control strategy for the quadrotor-slung load transportation system is *** facilitate the controller design,the outer position dynamics are restructured in the form of ***,a virtual controller is created to force the underactuated states to the dynamic surface to ensure the position subsystem's *** improve robustness,an adaptive law is used to eliminate the effects of uncertain cable ***,a dynamic surface controller for the inner attitude subsystem is presented to drive the actual force to the virtual *** is demonstrated that the control strategy can stabilize the quadrotor despite mass and cable length *** results are provided to demonstrate the efficacy and durability of the proposed method.
Auto-Disturbance Rejection controller (ADRC) has been proved to be a capable replacement of PID with unmistakable advantage in performance and practicality. But it is difficult to obtain a set of optimal parameters, f...
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With the development of remote sensing technique, onboard data compression has become an urgent need and a lot of study has been directed toward the development of efficient techniques. In this paper, the construction...
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In this paper, a method for navigation and obstacle avoidance of unmanned surface vessel (USV) based on reinforcement learning and reward shaping is proposed. This approach uses double deep Q networks (DDQN) to make d...
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3D mapping for unknown environments is a crucial issue for mobile service robots,which has many important applications in navigation and path *** this paper,we use Microsoft kinect sensor mounted on a mobile robot to ...
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ISBN:
(纸本)9781509009107
3D mapping for unknown environments is a crucial issue for mobile service robots,which has many important applications in navigation and path *** this paper,we use Microsoft kinect sensor mounted on a mobile robot to obtain3 D *** the process,consistent frames of RGB-D data are captured and *** Closest Point(ICP)algorithm and incremental registration method are employed to perform the fine ***,we use OctoMap to store 3D map of octree representation,an efficient data ***,our results demonstrate the practical applicability and effectiveness of the proposed approach.
A method for real-time fast detection and symptom analysis of cracks in highway asphalt pavement is proposed. At the first step, the fissure characteristic of the acquired and de-noised pavement images is analyzed and...
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1 *** Activity Recognition(GAR),which aims to identify activities performed collectively in videos,has gained significant attention *** conventional action recognition centered on single individuals,GAR explores the c...
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1 *** Activity Recognition(GAR),which aims to identify activities performed collectively in videos,has gained significant attention *** conventional action recognition centered on single individuals,GAR explores the complex interactions between multiple individuals.
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